EP3744649A1 - Dispositif de transport pour transporter des récipients souples le long d'une ligne d'emballage - Google Patents

Dispositif de transport pour transporter des récipients souples le long d'une ligne d'emballage Download PDF

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Publication number
EP3744649A1
EP3744649A1 EP19382421.6A EP19382421A EP3744649A1 EP 3744649 A1 EP3744649 A1 EP 3744649A1 EP 19382421 A EP19382421 A EP 19382421A EP 3744649 A1 EP3744649 A1 EP 3744649A1
Authority
EP
European Patent Office
Prior art keywords
gripper arm
arm
pivotally connected
clamp
gripper
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19382421.6A
Other languages
German (de)
English (en)
Other versions
EP3744649B1 (fr
Inventor
Josep SOLÀ GIL
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mespack SL
Original Assignee
Mespack SL
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Application filed by Mespack SL filed Critical Mespack SL
Priority to EP19382421.6A priority Critical patent/EP3744649B1/fr
Priority to ES19382421T priority patent/ES2894297T3/es
Priority to US17/613,017 priority patent/US11787645B2/en
Priority to PCT/EP2020/052044 priority patent/WO2020239272A1/fr
Publication of EP3744649A1 publication Critical patent/EP3744649A1/fr
Application granted granted Critical
Publication of EP3744649B1 publication Critical patent/EP3744649B1/fr
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • B65B43/32—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by external pressure diagonally applied
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/12—Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
    • B65B43/465—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers for bags
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes
    • B65B59/003—Arrangements to enable adjustments related to the packaging material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
    • B65B65/02—Driving gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0238—Bags

Definitions

  • the present invention generally relates to a conveyor device for conveying flexible containers along a packaging line, and more in particular to a conveyor device for conveying flexible containers hanging in a vertical position along a packaging line including one or more filling units and a sealing unit.
  • Horizontal-type automatic packaging machines including a conveyor device moving a plurality of carriages along a closed path provided with a work section, along which successive operating units such as one or more filling units and a sealing unit are installed, and a return section, wherein each carriage comprises a base supporting at least one pair of gripper arms provided with one or more pairs of clamps, each pair of clamps being configured for gripping a flexible container at opposite side edges thereof with the flexible container in a vertical position.
  • Document EP 3321195 A1 discloses a conveyor device of the type described above wherein the closed path is defined in a horizontal plane by a rail.
  • the work section of the closed path is a straight work section that runs through the operating units and the return section includes straight and curved portions.
  • the carriages are coupled to the rail and, in one embodiment, are intermittently driven by a drum cam along the straight work section and continuously driven by an endless roller chain along the return section.
  • Each carriage has a base and two pairs of mutually parallel gripper arms which project from the base in a direction perpendicular to the straight work section and which are connected to the base by guides parallel to the straight work section.
  • the gripper arms are linked to a mechanism operated by a cam follower couplable to cams external to the conveyor for moving the gripper arms of each pair towards each other, whereby the gripped flexible containers are relaxed and an upper opening thereof is open to allow the filling thereof, or away from each other, whereby the gripped flexible containers are stretched and the upper opening thereof is closed.
  • a drawback with the conveyor device of document EP 3321195 A1 is that the carriages admit a limited container size range and need to be replaced or mechanically adjusted for adapting the conveyor to flexible containers having different formats exceeding that limited container size range.
  • Another drawback is that any change in the configuration of the operating units forces to replace the drum cam which intermittently or continuously drives the carriages along the work section.
  • Still another drawback is that any change in the configuration of the operating units forces to modify the configuration of the cams external to the conveyor which move the gripper arms of each pair towards each other and away from each other in order to open and close the upper aperture of the gripped flexible containers.
  • Document US 2003230941 A1 discloses a controlled motion system which has a plurality of movers that are movably mounted on a track for moving along a path. Active and reactive elements are associated with the track and with each mover, and are configured for driving and controlling the movers along the path.
  • a controller is operatively associated with the active elements for controlling the driving of the movers, and position sensors are associated with the track and configured for sensing position information corresponding to the position of the movers along the path.
  • the sensors are associated with the controller for transmitting the position information to the controller, and the controller is configured for controlling the active elements such that each mover is controlled independently from the others.
  • Document WO 2014207278 A1 discloses a conveyor device for conveying flexible containers along a packaging line comprising a controlled motion system of the type of that disclosed in the cited document US 2003230941 A1 defining a track along a closed path oriented in in a vertical plane and a plurality of pairs of left and right movers movably mounted for moving along the closed path, wherein the closed path has a straight horizontal work upper section that runs through operating units and a lower return section including straight and curved portions.
  • a plurality of pairs of gripper arms are provided, with each pair including a left gripper arm rigidly connected to a left mover and a right gripper arm rigidly connected to a right mover.
  • a left clamp is mounted on the left gripper arm and a right clamp is mounted on the right gripper arm of each pair.
  • the left and right clamps are configured for gripping a flexible container at opposite side edges thereof with the flexible container in a vertical position.
  • a controller individually controls the movements of the left and right movers along the closed path so as to intermittently stop at each operating unit along the work section, to keep the pairs of left and right gripper arms at selected distances therebetween so as to open and close the upper opening of the gripped containers or so as to adapt the conveyor device to flexible containers having different formats.
  • a drawback with the conveyor device of the cited document WO 2014207278 A1 is that the work section of the closed path running through the operating units is limited to a straight horizontal work upper section due to the fact that the closed path is oriented in a vertical plane. If the closed path were oriented in a horizontal plane, then the gripper arms would lose their parallelism in the curved sections due to the fact that the gripper arms are rigidly connected to the movers, thereby the work section would be still limited to a straight section.
  • the present invention contributes to overcome the aforementioned drawbacks by providing a conveyor device for conveying flexible containers along a packaging line comprising a track which defines a closed path, one or more pairs of movers, each pair including a left mover and a right mover movably mounted on the track for moving along the path, and active and reactive elements associated with the track and the left and right movers.
  • the active and reactive elements are configured for independently driving and controlling the left and right movers along the path in cooperation with a programmable controller as per a known controlled motion system.
  • the conveyor device further comprises one or more pairs of gripper arms, each pair including a left gripper arm connected to the left mover and a right gripper arm connected to the right mover, one or more pairs of clamps, each pair including a left clamp mounted on the left gripper arm and a right clamp mounted on the right gripper arm.
  • the left and right clamps are configured for gripping a flexible container at opposite side edges thereof with the flexible container in a vertical position.
  • the closed path defined by the track lays in a horizontal plane and includes straight and curved sections
  • the left gripper arm is pivotally connected to the left mover by a left articulation about a vertical axis
  • the right gripper arm is pivotally connected to the right mover by a right articulation about a vertical axis.
  • the left and right gripper arms are linked together by a parallelism-keeping mechanism configured for keeping the left and right gripper arms mutually parallel and with the left and right clamps facing each other in both the straight and curved sections of the path even when a distance between the left and right articulations is varied due to the relative movements of the left and right movers.
  • each container-carrying unit is able to grip and hold one or more flexible containers in a vertical position, to adapt to flexible containers of different formats having different sizes within the wider set up size range, move the flexible containers forward and backward at variable speeds along the path, keep the flexible containers stationary at selected positions of the path and close and open an upper opening of each flexible container by stretching and relaxing it either when being stationary or in motion and either in a straight or curved section of the path.
  • the parallelism-keeping mechanism comprises a linear guide perpendicular to the left and right gripper arms attached to one of the left and right gripper arms and a guide follower attached to the other of the left and right gripper arms and slidingly coupled to the linear guide.
  • the parallelism-keeping mechanism comprises a linear guide bar, a left guide follower perpendicular to the left gripper arm attached to the left gripper arm and slidingly coupled to the linear guide bar and a right guide follower perpendicular to the right gripper arm attached to the right gripper arm and slidingly coupled to the linear guide bar.
  • the parallelism-keeping mechanism comprises a left linear guide parallel and attached to the left gripper arm, a right linear guide parallel and attached to the right gripper arm, a first rocker bar having a first end pivotally connected to the left gripper arm by a left articulation about a vertical axis and a second end pivotally connected to a right guide follower slidingly coupled to the right linear guide, and a second rocker bar having a first end pivotally connected to the right gripper arm by a right articulation about a vertical axis and a second end pivotally connected to a left guide follower slidingly coupled to the left linear guide, wherein the first and second rocker bars are pivotally connected to one another at an intermediate crossing point thereof by an intermediate articulation about a vertical axis.
  • the parallelism-keeping mechanism comprises an intermediate body, first and second left rocker bars, and first and second right rocker bars.
  • the first and second left rocker bars have respective first ends pivotally connected to the left gripper arm by respective first and second left articulations about vertical axes and respective second ends pivotally connected to the intermediate body by respective first and second left intermediate articulations about vertical axes.
  • the first and second right rocker bars have respective first ends pivotally connected to the right gripper arm by respective first and second right articulations about vertical axes and respective second ends connected to the intermediate body by respective first and second right intermediate articulations about vertical axes.
  • the first and second left rocker bars together with the left gripper arm and the intermediate body form a left articulated parallelogram and the first and second right rocker bars together with the right gripper arm and the intermediate body form a right articulated parallelogram.
  • the parallelism-keeping mechanism further comprises mutually meshed left and right toothed wheels coaxial to the second left and right intermediate articulations and fixed to the second left and right rocker bars, respectively, wherein the left and right toothed wheels have a same diameter.
  • the parallelism-keeping mechanism further comprises, instead of the mutually meshed left and right toothed wheels, an intermediate linear guide parallel to the left and right gripper arms attached to the intermediate body, a third left rocker bar having a first end pivotally connected to the left gripper arm by a third left articulation about a vertical axis and a second end pivotally connected to a guide follower slidingly coupled to the intermediate linear guide, and a third right rocker bar having a first end pivotally connected to the right gripper arm by a third right articulation about a vertical axis and a second end pivotally connected to the guide follower.
  • the left gripper arm is a first left gripper arm fixed to a left arm support and a second left gripper arm parallel to the first left gripper arm is fixed to the left arm support.
  • the right gripper arm is a first right gripper arm fixed to a right arm support and a second right gripper arm parallel to the first right gripper arm is fixed to the right arm support.
  • the left arm support is pivotally connected to the left mover by the left articulation and the right arm support is pivotally connected to the right mover by the right articulation.
  • the left and right arm supports are arranged such that the first left gripper arm is paired with the second right gripper arm and the second left gripper arm is paired with the first right gripper arm.
  • the one or more left clamps are one or more first left clamps mounted on the first left gripper arm and the one or more right clamps are one or more first right clamps mounted on the first right gripper arm, one or more second left clamps are mounted on the second left gripper arm and one or more second right clamps are mounted on the second right gripper arm.
  • the one or more second left clamps are paired with the one or more first right clamps and the one or more second right clamps are paired with the one or more first left clamps for gripping one or more pairs of flexible containers at opposite side edges thereof with the flexible containers in a vertical position.
  • the parallelism-keeping mechanism comprises, for example, a linear guide perpendicular to the first and second left and right gripper arms attached to one of the left and right arm supports and a guide follower attached to the other of the left and right arm supports and slidingly coupled to the linear guide.
  • the parallelism-keeping mechanism keeps the first left gripper arm, the second right gripper arm, the second left gripper arm and the first right gripper arm mutually parallel, with the first left clamps and the second right clamps facing each other and with the second left clamps and the first right clamps facing each other in both the straight and curved sections of the path even when a distance between the left and right articulations is varied due to the relative movements of the left and right movers.
  • a conveyor device for conveying flexible containers along a packaging line according to a first embodiment of the present invention is described.
  • the conveyor device comprises a track 1 defining a closed path and a plurality of container-carrying units 31 arranged to move along the path.
  • the closed path defined by the track 1 lays in a horizontal plane and includes straight and curved sections.
  • Each container-carrying unit 31 comprises one pair of adjacent movers 2a, 2b including a left mover 2a and a right mover 2b movably mounted on the track 1 for moving along the closed path.
  • Active and reactive elements 29, 30 are associated with the track 1 and the left and right movers 2a, 2b (see Fig. 2 ) are configured according to a controlled motion system well known in the art for independently driving and controlling the left and right movers 2a, 2b along the path in cooperation with a programmable controller.
  • each container-carrying unit 31 comprises one pair gripper arms 3a, 3b including a left gripper arm 3a pivotally connected to the left mover 2a by a left articulation 6a about a vertical axis and a right gripper arm 3b pivotally connected to the right mover 2b by a right articulation 6b about a vertical axis.
  • Each container-carrying unit 31 further comprises two pairs of clamps 4a, 4b, each pair including a left clamp 4a mounted on the left gripper arm 3a and a right clamp 4b mounted on the right gripper arm 3b.
  • the left and right clamps 4a, 4b are configured for gripping a flexible container 5 at opposite side edges thereof with the flexible container 5 hanging in a vertical position.
  • the left and right gripper arms 3a, 3b of each container-carrying unit 31 are linked together by a parallelism-keeping mechanism configured for keeping the left and right gripper arms 3a, 3b mutually parallel and with the left and right clamps 4a, 4b facing each other in both the straight and curved sections of the path even when a distance between the left and right articulations 6a, 6b is varied due to the relative movements of the left and right movers 2a, 2b.
  • the parallelism-keeping mechanism comprises a linear guide 8 and a guide follower 9.
  • the linear guide 8 is provided by a guide bar rigidly attached to the right gripper arm 3b in a position perpendicular to the left and right gripper arms 3a, 3b and the guide follower 9 is provided by a linear bearing rigidly attached to the left gripper arm 3a in a position perpendicular to the left and right gripper arms 3a, 3b, with the guide follower 9 being slidingly coupled to the linear guide 8.
  • a stop 34 at a free end of the linear guide 8 prevents the linear guide 8 from leaving the guide follower 9. It is to be understood that an equivalent inverse construction is possible, with the linear guide 8 rigidly attached to the left gripper arm 3a and the guide follower 9 rigidly attached to the right gripper arm 3b.
  • each container-carrying unit 31 is able to grip and hold a flexible container in a vertical position regardless the format of the flexible container within a set up container size range, move the flexible container forward and backward at variable speeds along the path, keep the flexible container stationary at selected positions of the path and open and close the upper opening of each flexible container either when being stationary or in motion and either in a straight or curved section of the path.
  • the track 1 comprises a rail 32 and the aforementioned active elements 29.
  • the left mover 2a (symmetrical to the right mover 2b) has wheels 33 coupled to the rail 32 and the aforementioned reactive elements 30 facing the active elements 29 of the track 1.
  • the left clamps 4a mounted on the left gripper arm 3a (symmetrical to the right clamps 4b mounted on the right gripper arm 3b) are of a well-known type shown, for example, in the cited document EP 3321195 A1 .
  • each container-carrying unit 31 Although in the first embodiment shown in Figs. 1 to 9 two pairs of clamps 4a, 4b are installed in each container-carrying unit 31, it is to be understood that by virtue of the parallel condition of the left and right gripper arms 3a, 3b ensured by the parallelism-keeping mechanism either in the straight and curved sections, any number of pairs of clamps 4a, 4b can be installed in each container-carrying unit 31 for gripping an equivalent number of flexible containers 5, provided that each pair of clamps comprises one left clamp 4a mounted on the left gripper arm 3a and one right clamp 4b mounted on the right gripper arm 3b.
  • Fig. 4 shows the container-carrying unit 31 carrying two relatively big-sized flexible containers 5 within the set up size range.
  • Relatively big-sized flexible containers means, for example, flexible containers that are more than 50% of the maximum size available within the set up size range.
  • Fig. 4 shows the container-carrying unit 31 in a straight section of the closed path defined by the track 1, with the two pairs of left and right clamps 4a, 4b gripping two relatively big-sized flexible containers 5 and with the left and right movers 2a, 2b keeping the left and right gripper arms 3a, 3b in suitable positions for stretching the relatively big-sized flexible containers 5 so as to keep their upper openings closed.
  • Fig. 5 shows the container-carrying unit 31 in a straight section of the closed path defined by the track 1, with the two pairs of left and right clamps 4a, 4b gripping the two relatively big-sized flexible containers 5 and with the left and right movers 2a, 2b keeping the left and right gripper arms 3a, 3b in suitable positions for relaxing the relatively big-sized flexible containers 5 so as to keep their upper openings open.
  • Fig. 6 shows the container-carrying unit 31 in a curved section of the closed path defined by the track 1, with the two pairs of left and right clamps 4a, 4b gripping the two relatively big-sized flexible containers 5 and with the left and right movers 2a, 2b keeping the left and right gripper arms 3a, 3b in suitable positions for stretching the relatively big-sized flexible containers 5 so as to keep their upper openings closed.
  • the left and right movers 2a, 2b can be controlled for keeping the left and right gripper arms 3a, 3b in suitable positions for relaxing the two relatively big-sized flexible containers 5 so as to keep their upper openings open in a curved section of the closed path defined by the track 1.
  • Fig. 7 shows the container-carrying unit 31 carrying two relatively small-sized flexible containers 5 within the set up size range.
  • Relatively small-sized flexible containers means, for example, flexible containers that are less than 50% of the maximum size available within the set up size range.
  • Fig. 8 shows the container-carrying unit 31 in a straight section of the closed path defined by the track 1, with the two pairs of left and right clamps 4a, 4b gripping the two relatively small-sized flexible containers 5 and with the left and right movers 2a, 2b keeping the left and right gripper arms 3a, 3b in suitable positions for relaxing the relatively small-sized flexible containers 5 so as to keep their upper openings open.
  • the left and right movers 2a, 2b can be controlled for keeping the left and right gripper arms 3a, 3b in suitable positions for stretching the two relatively small-sized flexible containers 5 so as to keep their upper openings closed in a straight section of the closed path defined by the track 1.
  • Fig. 9 shows the container-carrying unit 31 in a curved section of the closed path defined by the track 1, with the two pairs of left and right clamps 4a, 4b gripping the two relatively small-sized flexible containers 5 and with the left and right movers 2a, 2b keeping the left and right gripper arms 3a, 3b in suitable positions for stretching the flexible containers 5 so as to keep their upper openings closed.
  • the left and right movers 2a, 2b can be controlled for keeping the left and right gripper arms 3a, 3b in suitable positions for relaxing the two relatively small-sized flexible containers 5 so as to keep their upper openings open in a curved section of the closed path defined by the track 1.
  • Fig. 10 diagrammatically shows a container-carrying unit 31 according to a first variant of the first embodiment shown in Figs. 1 to 9 , wherein a single pair of left and right clamps 4a, 4b is installed on the left and right gripper arms 3a, 3b for gripping a single flexible container 5.
  • FIG. 11 diagrammatically shows a container-carrying unit 31 according to a second variant of the first embodiment shown in Figs. 1 to 9 , wherein four pairs of left and right clamps 4a, 4b are installed on the left and right gripper arms 3a, 3b for gripping four flexible containers 5.
  • Fig. 12 diagrammatically shows a container-carrying unit 31 according to a second embodiment of the present invention comprising a left arm support 7a pivotally connected to the left mover 2a by a left articulation 6a about a vertical axis and a right arm support 7b pivotally connected to the right mover 2b by a right articulation 6b about a vertical axis.
  • a first left gripper arm 3a and a parallel second left gripper arm 3c are rigidly fixed to the left arm support 7a.
  • a first right gripper arm 3b and a parallel second right gripper arm 3d are rigidly fixed to the right arm support 7b.
  • the first left gripper arm 3a, the second left gripper arm 3c, the first right gripper arm 3b and the second right gripper arm 3d are mutually parallel.
  • a first left clamp 4a is mounted on the first left gripper arm 3a
  • a second left clamp 4c is mounted on the second left gripper arm 3c
  • a first right clamp 4b is mounted on the first right gripper arm 3b
  • a second right clamp 4d is mounted on the second right gripper arm 3d.
  • the left and right arm supports 7a, 7b are arranged such that the first left gripper arm 3a is paired with the second right gripper arm 3d and the second left gripper arm 3c is paired with the first right gripper arm 3b, and such that the first left clamp 4a is paired with the second right clamp 4d constituting a left pair of clamps 4a, 4d and the second left clamp 4c is paired with the first right clamp 4b constituting a right pair of clamps 4c, 4b for gripping two flexible containers 5 at opposite side edges thereof with the flexible containers 5 in a vertical position.
  • the parallelism-keeping mechanism of the second embodiment comprises a linear guide 8 perpendicular to the first and second left and right gripper arms 3a, 3b, 3c, 3d attached to one of the left and right arm supports 7a, 7b and a guide follower 9 attached to the other of the left and right arm supports 7a, 7b and slidingly coupled to the linear guide 8 although alternative parallelism-keeping mechanism will easily occur to one skilled person.
  • Fig. 13 diagrammatically shows a variant of the container-carrying unit 31 according to the second embodiment, wherein two left pairs of clamps 4a, 4d and two right pairs of clamps 4b, 4c are provided for gripping four flexible containers 5, although it will be understood that any plural number of left and right pairs of clamps 4a, 4d can be provided.
  • Each left pair of clamps comprises one first left clamp 4a mounted on the first left gripper arm 3a and one second right clamp 4d mounted on the second right gripper arm 3d.
  • Each right pair of clamps comprises one second left clamp 4c mounted on the second left gripper arm 3c and one first right clamp 4b mounted on the first right gripper arm 3b.
  • Fig. 14 diagrammatically shows a container-carrying unit 31 according to a third embodiment of the present invention comprising a left gripper arm 3a pivotally connected to a left mover 2a by a left articulation 6a about a vertical axis and a right gripper arm 3b pivotally connected to a right mover 2b by a right articulation 6b about a vertical axis.
  • the container-carrying unit 31 further comprises two pairs of clamps 4a, 4b, with each pair including a left clamp 4a mounted on the left gripper arm 3a and a right clamp 4b mounted on the right gripper arm 3b.
  • a parallelism-keeping mechanism comprising a linear guide bar 10, a left guide follower 11a attached to the left gripper arm 3a in a position perpendicular thereto and a right guide follower 11b attached to the right gripper arm 3b in a position perpendicular thereto.
  • Both the left guide follower 11a and the right guide follower 11 b are slidingly coupled to the linear guide bar 10.
  • stops are provided at both free ends of the linear guide bar 10 to prevent the linear guide bar 10 from leaving the left and right guide followers 11a, 11b.
  • Fig. 15 diagrammatically shows a container-carrying unit 31 according to a fourth embodiment of the present invention comprising a left gripper arm 3a pivotally connected to a left mover 2a by a left articulation 6a about a vertical axis and a right gripper arm 3b pivotally connected to a right mover 2b by a right articulation 6b about a vertical axis.
  • the container-carrying unit 31 further comprises two pairs of clamps 4a, 4b, with each pair including a left clamp 4a mounted on the left gripper arm 3a and a right clamp 4b mounted on the right gripper arm 3b, although it is to be understood that any number of pairs of clamps 4a, 4b can be provided.
  • a parallelism-keeping mechanism comprising a left linear guide 12a attached to the left gripper arm 3a in a position parallel thereto and a right linear guide 12b attached to the right gripper arm 3b in a position parallel thereto, a first rocker bar 13a and a second rocker bar 13b.
  • the first rocker bar 13a has a first end pivotally connected to the left gripper arm 3a by a left articulation 14a about a vertical axis and a second end pivotally connected to a right guide follower 15b slidingly coupled to the right linear guide 12b.
  • the second rocker bar 13b has a first end pivotally connected to the right gripper arm 3b by a right articulation 14b about a vertical axis and a second end pivotally connected to a left guide follower 15a slidingly coupled to the left linear guide 12a.
  • the first and second rocker bars 13a, 13b are further pivotally connected to one another at an intermediate crossing point thereof by an intermediate articulation 16 about a vertical axis.
  • Fig. 16 diagrammatically shows a container-carrying unit 31 according to a fifth embodiment of the present invention comprising a left gripper arm 3a pivotally connected to a left mover 2a by a left articulation 6a about a vertical axis and a right gripper arm 3b pivotally connected to a right mover 2b by a right articulation 6b about a vertical axis.
  • the container-carrying unit 31 further comprises two pairs of clamps 4a, 4b, with each pair including a left clamp 4a mounted on the left gripper arm 3a and a right clamp 4b mounted on the right gripper arm 3b, although it is to be understood that any number of pairs of clamps 4a, 4b can be provided.
  • a parallelism-keeping mechanism comprising an intermediate body 21, first and second left rocker bars 17a, 18a and first and second right rocker bars 17b, 18b.
  • the first and second left rocker bars 17a, 18a have respective first ends pivotally connected to the left gripper arm 3a by respective first and second left articulations 19a, 20a about vertical axes and respective second ends pivotally connected to the intermediate body 21 by respective first and second left intermediate articulations 22a, 23a about vertical axes.
  • the first and second right rocker bars 17b, 18b have respective first ends pivotally connected to the right gripper arm 3b by respective first and second right articulations 19b, 20b about vertical axes and respective second ends connected to the intermediate body 21 by respective first and second right intermediate articulations 22b, 23b about vertical axes.
  • the distances between the first and second left articulations 19a, 20a and the first and second left intermediate articulations 22a, 23a are configured such that the first and second left rocker bars 17a, 18a, the left gripper arm 3a and the intermediate body 21 form together a left articulated parallelogram.
  • the distances between the first and second right articulations 19b, 20b and the first and second right intermediate articulations 22b, 23b are configured such that the first and second right rocker bars 17b, 18b, the right gripper arm 3b and the intermediate body 21 form together a right articulated parallelogram symmetric of the left articulated parallelogram.
  • the parallelism-keeping mechanism further comprises left and right toothed wheels 24a, 24b coaxial to the second left and right intermediate articulations 23a, 23b.
  • the left and right toothed wheels 24a, 24b are rigidly fixed to the second left and right rocker bars 18a, 18b, respectively, and mutually meshed.
  • the left and right toothed wheels 24a, 24b have a same diameter, thereby the angles rotated by the first and second left rocker bars 17a, 18a are equal to the angles rotated by the first and second right rocker bars 17b, 18b when the left and right gripper arms 3a, 3b are moved towards each other or away from each other. This keeps the left and right clamps 4a, 4b of each pair mutually facing each other.
  • Fig. 17 diagrammatically shows a first variant of the container-carrying unit 31 of the fifth embodiment which only differs from the fifth embodiment shown in Fig. 16 in that the second ends of the first left and right rocker bars 17a, 17b are pivotally connected to the intermediate body 21 by a central coaxial articulation 35 about a common vertical axis.
  • Fig. 18 diagrammatically shows a second variant of the container-carrying unit 31 of the fifth embodiment shown in Fig. 16 , wherein the parallelism-keeping mechanism comprises, instead of the left and right toothed wheels 24a, 24b, an intermediate linear guide 25 rigidly attached to the intermediate body 21 in a position parallel to the left and right gripper arms 3a, 3b, as well as a third left rocker bar 26a and a third right rocker bar 26b.
  • the third left rocker bar 26a has a first end pivotally connected to the left gripper arm 3a by a third left articulation 27a about a vertical axis and a second end pivotally connected to a guide follower 28 slidingly coupled to the intermediate linear guide 25.
  • the third right rocker bar 26b has a first end pivotally connected to the right gripper arm 3b by a third right articulation 27b about a vertical axis and a second end pivotally connected to the guide follower 28.
  • the intermediate linear guide 25 protrudes outwardly from the intermediate body 21 and the connections of the second ends of the third left and right rocker bars 26a, 26b to the guide follower 28 are coaxial.
  • Fig. 19 diagrammatically shows a third variant of the container-carrying unit 31 of the fifth embodiment which only differs from the second variant shown in Fig. 18 in that the intermediate linear guide 25 protrudes inwardly from the intermediate body 21.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
EP19382421.6A 2019-05-27 2019-05-27 Dispositif de transport pour transporter des récipients souples le long d'une ligne d'emballage Active EP3744649B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP19382421.6A EP3744649B1 (fr) 2019-05-27 2019-05-27 Dispositif de transport pour transporter des récipients souples le long d'une ligne d'emballage
ES19382421T ES2894297T3 (es) 2019-05-27 2019-05-27 Dispositivo transportador para transportar recipientes flexibles a lo largo de una línea de empaquetamiento
US17/613,017 US11787645B2 (en) 2019-05-27 2020-01-28 Conveyor device for conveying flexible containers along a packaging line
PCT/EP2020/052044 WO2020239272A1 (fr) 2019-05-27 2020-01-28 Dispositif de transport pour transporter des récipients flexibles le long d'une ligne d'emballage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19382421.6A EP3744649B1 (fr) 2019-05-27 2019-05-27 Dispositif de transport pour transporter des récipients souples le long d'une ligne d'emballage

Publications (2)

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EP3744649A1 true EP3744649A1 (fr) 2020-12-02
EP3744649B1 EP3744649B1 (fr) 2021-07-07

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EP19382421.6A Active EP3744649B1 (fr) 2019-05-27 2019-05-27 Dispositif de transport pour transporter des récipients souples le long d'une ligne d'emballage

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US (1) US11787645B2 (fr)
EP (1) EP3744649B1 (fr)
ES (1) ES2894297T3 (fr)
WO (1) WO2020239272A1 (fr)

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US20230150776A1 (en) * 2021-11-15 2023-05-18 Krones Ag Transport of objects having different formats

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US20230150776A1 (en) * 2021-11-15 2023-05-18 Krones Ag Transport of objects having different formats

Also Published As

Publication number Publication date
EP3744649B1 (fr) 2021-07-07
WO2020239272A1 (fr) 2020-12-03
US20220315356A1 (en) 2022-10-06
ES2894297T3 (es) 2022-02-14
US11787645B2 (en) 2023-10-17

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